communication works, basic status decoding works, axis aliases implemented

1 files changed, 68 insertions, 14 deletions

diff --git a/Phytron.py b/Phytron.py
index 52cb096..c00d079 100644
--- a/Phytron.py
+++ b/Phytron.py
@@ -10,10 +10,16 @@ class ReceiveChecksumError(exceptions.Exception):
 		self.message = "Checksum Error: expected %x, got %x" % (expected, received)
 
 class Axis:
-	def __init__(self, ipcomm, address):
+	def __init__(self, ipcomm, ID):
 		self.ipcomm = ipcomm
-		self.address = address
+		self.ID = ID
 
+	def execute(self, cmd):
+		result = self.ipcomm.execute(self.ID, cmd)
+		assert result['ID'] == self.ID
+		del result['ID']
+		return result
+	
 	def goToAbs(self, position):
 		pass
 	
@@ -39,8 +45,39 @@ def checksum(data):
 		chksm = chksm ^ ord(d)
 	return chksm
 
+class Status:
+	def __init__(self, bitvector):
+		self.coldboot          = not not (bitvector & (1<<7))
+		self.any_error         = not not (bitvector & (1<<6))
+		self.rx_error          = not not (bitvector & (1<<5))
+		self.SFI_error         = not not (bitvector & (1<<4))
+		self.outputstage_error = not not (bitvector & (1<<3))
+		self.initiator_m       = not not (bitvector & (1<<2))
+		self.initiator_p       = not not (bitvector & (1<<1))
+		self.running           = not not (bitvector & (1<<0))
+	
+	def __str__(self):
+		status = list()
+		if self.coldboot:
+			status += ['Cold Boot']
+		if self.any_error:
+			status += ['Any Error']
+		if self.rx_error:
+			status += ['RX Error']
+		if self.SFI_error:
+			status += ['SFI Error']
+		if self.outputstage_error:
+			status += ['Output Stage Error']
+		if self.initiator_m:
+			status += ['Initiator -']
+		if self.initiator_p:
+			status += ['Initiator +']
+		if self.running:
+			status += ['Running']
+		return '{'+ ('|'.join(status)) + '}'
+
 class IPCOMM:
-	def __init__(self, url, baudrate = 38400):
+	def __init__(self, url, baudrate = 38400, axisnames = None):
 		self.conn = serial.serial_for_url(url)
 		self.conn.baudrate = baudrate
 		self.conn.parity = serial.PARITY_NONE
@@ -48,15 +85,30 @@ class IPCOMM:
 		self.conn.dsrdtr = False
 		self.conn.xonxoff = False
 		self.conn.timeout = 0.1
-
-	def enumerate(self, names):
-		for n in range(0x10):
+		self.axisByID = dict()
+		self.axisByName = dict()
+		self.enumerate(axisnames)
+
+	def axis(self, nameOrID):
+		if isinstance(nameOrID, str) and nameOrID.isalpha():
+			return self.axisByName[nameOrID]
+		return self.axisByID[int(nameOrID)]
+
+	def enumerate(self, names=None):
+		self.axisByID.clear()
+		self.axisByName.clear()
+		for ID in range(0x10):
 			try:
-				address = self.execute(n, 'IS?')[0]
-				assert address == n
+				assert self.execute(ID, 'IS?')['ID'] == ID
+				axis = Axis(self, ID)
+				self.axisByID[ID] = axis
+
+				if (isinstance(names, dict) and names.haskey(ID)) or (isinstance(names, list) and ID < len(names)):
+					assert names[ID].isalpha()
+					self.axisByName[str(names[ID])] = axis
+
 			except ReceiveTimeout:
 				continue
-			print("Axis %d found" % n)
 
 	def send(self, data):
 		self.conn.write('\x02' + data + ':' + ('%02X' % checksum(data + ':')) + '\x03')
@@ -85,28 +137,30 @@ class IPCOMM:
 		if expected_chksm != chksm:
 			raise ReceiveChecksumError(expected_chksm, chksm)
 
-		return string.atoi(status[0], 0x10), string.atoi(status[1:], 0x10), data
+		return {'ID': string.atoi(status[0], 0x10), 
+			'status': Status(string.atoi(status[1:], 0x10)), 
+			'data': data}
 
 	def broadcast(self, cmd):
 		self.conn.flushInput()
 		self.send( '@' + cmd )
 	
-	def execute(self, address, cmd):
+	def execute(self, ID, cmd):
 		self.conn.flushInput()
-		self.send( ('%X' % address) + cmd )
+		self.send( ('%X' % ID) + cmd )
 
 		recv_data = None
 		while not recv_data:
 			try:
 				recv_data = self.recv()
 			except ReceiveChecksumError:
-				self.send( ('%X' % address) + 'R')
+				self.send( ('%X' % ID) + 'R')
 		# self.parseStatus(recv_status)
 		return recv_data
 	
 	def goToAbs(self, positions):
 		pass
-	
+
 	def goToRelative(self, offset):
 		pass